EP3325205A4 - Verfahren und vorrichtung zur identifizierung von schweissnähten eines schweissobjekts - Google Patents

Verfahren und vorrichtung zur identifizierung von schweissnähten eines schweissobjekts Download PDF

Info

Publication number: EP3325205A4
Authority: EP; European Patent Office
Prior art keywords: welding; identifying; cords; welding object; welding cords
Prior art date: 2015-07-23
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.): Granted

Application number

EP15898670.3A

Other languages

English (en)

French (fr)

Other versions

EP3325205B1 (de

EP3325205A1 (de

Inventor

Jingguo Ge

Peng KONG

Lei Mao

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

ABB Schweiz AG

Original Assignee

ABB Schweiz AG

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

2015-07-23

Filing date

2015-07-23

Publication date

2019-08-07

2015-07-23 Application filed by ABB Schweiz AG filed Critical ABB Schweiz AG

2018-05-30 Publication of EP3325205A1 publication Critical patent/EP3325205A1/de

2019-08-07 Publication of EP3325205A4 publication Critical patent/EP3325205A4/de

2021-01-20 Application granted granted Critical

2021-01-20 Publication of EP3325205B1 publication Critical patent/EP3325205B1/de

Status Active legal-status Critical Current

2035-07-23 Anticipated expiration legal-status Critical

Links

Classifications

- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by any single one of main groups B23K1/00 - B23K28/00
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by any single one of main groups B23K1/00 - B23K28/00 relating to soldering or welding
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30152—Solder

Landscapes

Engineering & Computer Science (AREA)
Physics & Mathematics (AREA)
Mechanical Engineering (AREA)
Plasma & Fusion (AREA)
Geometry (AREA)
Computer Vision & Pattern Recognition (AREA)
General Physics & Mathematics (AREA)
Theoretical Computer Science (AREA)
Numerical Control (AREA)

EP15898670.3A 2015-07-23 2015-07-23 Verfahren und vorrichtung zur identifizierung von schweissnähten eines schweissobjekts Active EP3325205B1 (de)

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
PCT/CN2015/084914 WO2017012114A1 (en)	2015-07-23	2015-07-23	Method and apparatus of identifying welding seams of welding object

Publications (3)

Publication Number	Publication Date
EP3325205A1 EP3325205A1 (de)	2018-05-30
EP3325205A4 true EP3325205A4 (de)	2019-08-07
EP3325205B1 EP3325205B1 (de)	2021-01-20

Family

ID=57833653

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP15898670.3A Active EP3325205B1 (de)	2015-07-23	2015-07-23	Verfahren und vorrichtung zur identifizierung von schweissnähten eines schweissobjekts

Country Status (4)

Country	Link
US (1)	US10960483B2 (de)
EP (1)	EP3325205B1 (de)
CN (1)	CN107949450B (de)
WO (1)	WO2017012114A1 (de)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US10551179B2 (en)	2018-04-30	2020-02-04	Path Robotics, Inc.	Reflection refuting laser scanner
CN110154034A (zh) *	2019-06-21	2019-08-23	成都钧诺威视智能科技有限公司	一种基于激光三维建模的机器人管板焊接方法
US11407110B2 (en)	2020-07-17	2022-08-09	Path Robotics, Inc.	Real time feedback and dynamic adjustment for welding robots
MX2023009878A (es)	2021-02-24	2024-01-08	Path Robotics Inc	Robots soldadores autonomos.
JP7503528B2 (ja) *	2021-08-03	2024-06-20	株式会社神戸製鋼所	溶接線生成装置、該方法および該プログラム
DE102021124053A1 (de) *	2021-09-17	2023-03-23	Bayerische Motoren Werke Aktiengesellschaft	Verfahren zum Bereitstellen von Informationen für eine Robotereinrichtung sowie elektronische Recheneinrichtung
CN113814528B (zh) *	2021-10-11	2022-12-27	湖北忠和冶金机械制造股份有限公司	基于交互式的焊缝曲线提取与自动轨迹生成方法
US12277369B2 (en)	2021-10-18	2025-04-15	Path Robotics, Inc.	Generating simulated weld paths for a welding robot
CN114147317A (zh) *	2021-10-26	2022-03-08	上海中船临港船舶装备有限公司	一种船舶曲面结构的机器人焊接工艺
EP4433264A1 (de)	2021-11-19	2024-09-25	Path Robotics, Inc.	Auf maschinenlernlogik basierende einstelltechniken für roboter
CN114192938A (zh) *	2021-12-21	2022-03-18	中车长江铜陵车辆有限公司	一种快速识别悬挂梁焊修后焊位的方法
US12485498B2 (en) *	2022-03-31	2025-12-02	Hcl Technologies Limited	Method and system of identifying a weldment feature
US12508665B2 (en)	2022-04-19	2025-12-30	Path Robotics, Inc.	Autonomous assembly robots
CN114769966B (zh) *	2022-05-13	2023-12-26	中车青岛四方机车车辆股份有限公司	车体断面焊缝识别方法及系统
CN114905115B (zh) *	2022-06-30	2023-12-26	中船黄埔文冲船舶有限公司	一种中组立立焊缝的机器人焊接方法及装置
CN115041856B (zh) *	2022-06-30	2024-03-26	中船黄埔文冲船舶有限公司	一种中组立立角焊缝的焊接方法及装置
CN115358965B (zh) *	2022-07-08	2025-06-27	广东工业大学	一种焊接变形量自适应的直线焊缝打磨轨迹生成方法及装置
US12521884B2 (en) *	2022-07-26	2026-01-13	Path Robotics, Inc.	Techniques for multipass welding

Citations (4)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
JPH10187223A (ja) *	1996-12-26	1998-07-14	Nkk Corp	溶接ロボット動作プログラムの自動生成システム
US20100152870A1 (en) *	2007-02-19	2010-06-17	Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V.	Method and device for controlling robots for welding workpieces
US20130119040A1 (en) *	2011-11-11	2013-05-16	Lincoln Global, Inc.	System and method for adaptive fill welding using image capture
JP2014032076A (ja) *	2012-08-02	2014-02-20	Kobe Steel Ltd	溶接開先部の位置及び形状計測方法

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
ZA838150B (en) *	1982-11-01	1984-06-27	Nat Res Dev	Automatic welding
JPS59193770A (ja) *	1983-04-19	1984-11-02	Yaskawa Electric Mfg Co Ltd	溶接ロボットによる多層溶接方法
JP3082829B2 (ja) *	1995-04-14	2000-08-28	三菱重工業株式会社	溶接線自動認識法及び装置
JP2005502111A (ja) *	2001-08-31	2005-01-20	ソリッドワークスコーポレイション	２ｄおよび３ｄモデリングデータの同時使用法
US7946439B1 (en) *	2007-04-09	2011-05-24	Tech Serv LLC	Protective steel membrane system and method of erection for secondary containment for an above ground storage tank
JP5578791B2 (ja) *	2009-02-13	2014-08-27	株式会社神戸製鋼所	溶接線選定方法
US9604305B2 (en) *	2011-10-26	2017-03-28	GM Global Technology Operations LLC	Quality status display for a vibration welding process
CN102708263B (zh) *	2012-06-08	2014-08-20	郑州飞机装备有限责任公司	基于0Cr15Ni5Cu2Ti框架结构的计算机仿真焊接方法
CN104057210B (zh) *	2013-03-20	2017-02-08	上海通用汽车有限公司	基于强度理论的焊接设计方法
JP5965859B2 (ja) *	2013-03-28	2016-08-10	株式会社神戸製鋼所	溶接線情報設定装置、プログラム、自動教示システム、および溶接線情報設定方法
JP6022393B2 (ja) *	2013-03-28	2016-11-09	株式会社神戸製鋼所	溶接線情報設定装置、プログラム、自動教示システム、および溶接線情報設定方法
CN103273207A (zh) *	2013-04-12	2013-09-04	广东工业大学	基于残余应力定量化分析的消除压力机机身焊接变形的方法
US9180552B2 (en) *	2013-05-27	2015-11-10	ThinkSmart IT Solutions Private Limited	System and method for identifying defects in welds by processing X-ray images
CN103969335B (zh) *	2013-06-27	2016-12-28	中车青岛四方机车车辆股份有限公司	一种焊缝侧壁未熔合自动超声成像与可视化方法
CN104353926B (zh) *	2014-07-04	2016-04-06	揭阳市顺星不锈钢实业有限公司	一种适用于复杂曲线器件自动化焊接的运动控制方法
CN104750023A (zh) *	2015-02-13	2015-07-01	河北联合大学	一种基于模型的焊接机器人离线示教数据的获取方法

2015
- 2015-07-23 EP EP15898670.3A patent/EP3325205B1/de active Active
- 2015-07-23 CN CN201580081540.XA patent/CN107949450B/zh active Active
- 2015-07-23 WO PCT/CN2015/084914 patent/WO2017012114A1/en not_active Ceased
2017
- 2017-12-22 US US15/852,229 patent/US10960483B2/en active Active

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
JPH10187223A (ja) *	1996-12-26	1998-07-14	Nkk Corp	溶接ロボット動作プログラムの自動生成システム
US20100152870A1 (en) *	2007-02-19	2010-06-17	Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V.	Method and device for controlling robots for welding workpieces
US20130119040A1 (en) *	2011-11-11	2013-05-16	Lincoln Global, Inc.	System and method for adaptive fill welding using image capture
JP2014032076A (ja) *	2012-08-02	2014-02-20	Kobe Steel Ltd	溶接開先部の位置及び形状計測方法

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
See also references of WO2017012114A1 *
YOICHI NAGAO ET AL: "A Teaching-Free Robot System Utilizing Three-Dimensional CAD Product Data", 12 December 2006 (2006-12-12), XP055596845, Retrieved from the Internet <URL:https://pdfs.semanticscholar.org/bf2d/44d76117b9bcff1d3fdf7a939470a3f6021a.pdf> [retrieved on 20190617] *

Also Published As

Publication number	Publication date
EP3325205B1 (de)	2021-01-20
WO2017012114A1 (en)	2017-01-26
US10960483B2 (en)	2021-03-30
CN107949450B (zh)	2020-09-22
EP3325205A1 (de)	2018-05-30
US20180117701A1 (en)	2018-05-03
CN107949450A (zh)	2018-04-20

Legal Events

Date	Code	Title	Description
2017-01-27	STAA	Information on the status of an ep patent application or granted ep patent	Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE
2018-04-27	PUAI	Public reference made under article 153(3) epc to a published international application that has entered the european phase	Free format text: ORIGINAL CODE: 0009012
2018-04-27	STAA	Information on the status of an ep patent application or granted ep patent	Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE
2018-05-30	17P	Request for examination filed	Effective date: 20171222
2018-05-30	AK	Designated contracting states	Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
2018-05-30	AX	Request for extension of the european patent	Extension state: BA ME
2018-10-31	DAV	Request for validation of the european patent (deleted)
2018-10-31	DAX	Request for extension of the european patent (deleted)
2019-08-07	A4	Supplementary search report drawn up and despatched	Effective date: 20190705
2019-08-07	RIC1	Information provided on ipc code assigned before grant	Ipc: B23K 9/095 20060101AFI20190701BHEP Ipc: G06T 7/12 20170101ALI20190701BHEP Ipc: B23K 31/02 20060101ALI20190701BHEP Ipc: B23K 9/127 20060101ALI20190701BHEP
2020-08-10	GRAP	Despatch of communication of intention to grant a patent	Free format text: ORIGINAL CODE: EPIDOSNIGR1
2020-08-10	STAA	Information on the status of an ep patent application or granted ep patent	Free format text: STATUS: GRANT OF PATENT IS INTENDED
2020-09-09	INTG	Intention to grant announced	Effective date: 20200811
2020-12-16	GRAS	Grant fee paid	Free format text: ORIGINAL CODE: EPIDOSNIGR3
2020-12-18	GRAA	(expected) grant	Free format text: ORIGINAL CODE: 0009210
2020-12-18	STAA	Information on the status of an ep patent application or granted ep patent	Free format text: STATUS: THE PATENT HAS BEEN GRANTED
2021-01-06	RAP1	Party data changed (applicant data changed or rights of an application transferred)	Owner name: ABB SCHWEIZ AG
2021-01-20	AK	Designated contracting states	Kind code of ref document: B1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
2021-01-20	REG	Reference to a national code	Ref country code: GB Ref legal event code: FG4D
2021-01-29	REG	Reference to a national code	Ref country code: CH Ref legal event code: EP
2021-02-11	REG	Reference to a national code	Ref country code: DE Ref legal event code: R096 Ref document number: 602015065107 Country of ref document: DE
2021-02-15	REG	Reference to a national code	Ref country code: AT Ref legal event code: REF Ref document number: 1355948 Country of ref document: AT Kind code of ref document: T Effective date: 20210215
2021-02-17	REG	Reference to a national code	Ref country code: IE Ref legal event code: FG4D
2021-06-23	REG	Reference to a national code	Ref country code: NL Ref legal event code: MP Effective date: 20210120
2021-07-12	REG	Reference to a national code	Ref country code: LT Ref legal event code: MG9D
2021-07-15	REG	Reference to a national code	Ref country code: AT Ref legal event code: MK05 Ref document number: 1355948 Country of ref document: AT Kind code of ref document: T Effective date: 20210120
2021-07-30	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: HR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210421 Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210420 Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210520 Ref country code: NO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210420
2021-08-31	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: RS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: AT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120
2021-09-30	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210520
2021-10-21	REG	Reference to a national code	Ref country code: DE Ref legal event code: R097 Ref document number: 602015065107 Country of ref document: DE
2021-10-29	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: SM Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: CZ Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120
2021-10-29	PGFP	Annual fee paid to national office [announced via postgrant information from national office to epo]	Ref country code: IT Payment date: 20210727 Year of fee payment: 7 Ref country code: FR Payment date: 20210729 Year of fee payment: 7
2021-11-26	PLBE	No opposition filed within time limit	Free format text: ORIGINAL CODE: 0009261
2021-11-26	STAA	Information on the status of an ep patent application or granted ep patent	Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT
2021-11-30	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120
2021-12-29	26N	No opposition filed	Effective date: 20211021
2022-01-31	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120 Ref country code: AL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120
2022-02-28	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120
2022-02-28	REG	Reference to a national code	Ref country code: CH Ref legal event code: PL
2022-03-23	GBPC	Gb: european patent ceased through non-payment of renewal fee	Effective date: 20210723
2022-04-04	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: MC Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120
2022-04-04	REG	Reference to a national code	Ref country code: BE Ref legal event code: MM Effective date: 20210731
2022-04-29	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210731 Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210723 Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210731
2022-06-01	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210520 Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210723
2022-07-29	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: IE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210723 Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210731
2023-04-28	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20220731
2023-05-31	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO Effective date: 20150723
2023-06-30	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: NL Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210120 Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120
2023-07-31	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: IT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20220723
2024-04-30	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: MK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120
2024-09-30	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: MT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120
2025-10-10	PGFP	Annual fee paid to national office [announced via postgrant information from national office to epo]	Ref country code: DE Payment date: 20250722 Year of fee payment: 11
2025-12-12	PG25	Lapsed in a contracting state [announced via postgrant information from national office to epo]	Ref country code: TR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210120

Publication	Publication Date	Title
EP3553915A4 (de)	2020-04-29	Verfahren zur erkennung von fremdkörpern und vorrichtung dafür
EP3460385A4 (de)	2019-04-24	Verfahren und vorrichtung zur bestimmung des volumens eines objektes
EP3494571A4 (de)	2019-08-28	Anzeigevorrichtung und anzeigeverfahren
EP3550811A4 (de)	2019-10-09	Verfahren und vorrichtung zur informationsdarstellung
EP3460678A4 (de)	2019-06-05	Verfahren und vorrichtung zur bestimmung von bezugsworten
EP3385835A4 (de)	2019-01-09	Verfahren und vorrichtung zur konfiguration eines beschleunigers
EP3339479A4 (de)	2019-03-20	Elektrolysevorrichtung und elektrolyseverfahren
EP3483823A4 (de)	2019-06-12	Verfahren und vorrichtung zur objektauswahl
EP3347113A4 (de)	2019-04-17	Extraktionsvorrichtung und verfahren dafür
EP3487435A4 (de)	2019-07-24	Automatisiertes system und verfahren zur haarentfernung
EP3373186A4 (de)	2019-07-10	Vorrichtung und verfahren zur erzeugung eines identifizierungsschlüssels
EP3703321C0 (de)	2023-06-07	Konfigurationsverfahren und -vorrichtung
EP3428807A4 (de)	2019-09-11	Anzeigeverfahren und vorrichtung
EP3331456A4 (de)	2019-03-20	Vorrichtung und verfahren zum stoppen einer blutung
EP3306897A4 (de)	2019-01-16	Zugangsverfahren und -vorrichtung
EP3384179A4 (de)	2019-11-13	Riemenspleissvorrichtung und -verfahren
EP3536200A4 (de)	2019-11-27	Extraktionsvorrichtung und extraktionsverfahren
EP3520308A4 (de)	2020-06-03	Vorrichtung und verfahren zur hilfsrahmenanordnung
EP3324697A4 (de)	2019-04-10	Verfahren und vorrichtung zur herstellung einer verbindung
EP3342520A4 (de)	2019-05-22	Elektroverarbeitungsvorrichtung und -verfahren
EP3494356A4 (de)	2020-03-04	Vorrichtung und verfahren zum sprengen
EP3361231A4 (de)	2019-05-22	Inspektionsvorrichtung, inspektionssystem und inspektionsverfahren
EP3325938A4 (de)	2019-05-22	Automatisierter färber und verfahren dafür
EP3525528A4 (de)	2019-11-20	Positionierungsverfahren und positionierungsvorrichtung
EP3423926A4 (de)	2019-03-27	Elektronische vorrichtung und verfahren zur anzeige von objekten